CN114756045B - Unmanned aerial vehicle control method for meteorological radar calibration - Google Patents
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle control method for meteorological radar calibration. The scheme of the invention mainly provides that when the unmanned aerial vehicle carries a metal ball (or other calibration equipment) to calibrate the meteorological radar, the calibrated meteorological radar parameters are automatically matched with the unmanned aerial vehicle parameters, and the near field calibration constraint condition and the far field calibration constraint condition of the unmanned aerial vehicle are calculated; calculating and controlling the unmanned aerial vehicle in a near field region calibration space and a far field region calibration space of the meteorological radar according to the matching parameters, and performing intelligent calibration flight according to the flight speed set by the unmanned aerial vehicle; the unmanned aerial vehicle control method for meteorological radar calibration is realized, and the complicated control flow of manpower for calibrating the unmanned aerial vehicle and the influence on the meteorological radar calibration in the calibration process are eliminated.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle control method for meteorological radar calibration.
Background
With the continuous development of the technologies of dual-polarization meteorological radar and phased array meteorological radar, the calibration requirement on the meteorological radar is higher and higher, and the technical requirement is more and more vigorous. For example, the detection technology calibration of dual-polarization meteorological radar and phased array meteorological radar by using the metal ball mounted by the unmanned aerial vehicle is continuously explored and tested, as shown in fig. 1, in order to calibrate the meteorological radar by using the metal ball mounted by the unmanned aerial vehicle (or other calibration equipment), the unmanned aerial vehicle which needs to manually operate the metal ball mounted (or other calibration equipment) continuously calibrates and flies in the near field and the far field of the meteorological radar according to the specified height, distance and speed. At the in-process that uses unmanned aerial vehicle to carry the metal ball to carry out the demarcation to meteorological radar, need artifical flight trajectory, flight state, flight area, flight distance, flight height, flying speed etc. to demarcating unmanned aerial vehicle to control, have loaded down with trivial details operation flow and mark unmanned aerial vehicle flight control process, brought very big inconvenience and a great deal of adverse effect from this.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control method for meteorological radar calibration, which is used for solving the problem of controlling the flight path, the flight state, the flight area, the flight distance, the flight height, the flight speed and the like of a calibrated unmanned aerial vehicle in the process of calibrating the meteorological radar by using an unmanned aerial vehicle mounted metal ball (or other calibration equipment).
The technical scheme of the invention is as follows:
an unmanned aerial vehicle control method for meteorological radar calibration, as shown in fig. 1, includes the following steps:
s1, obtaining calibrated meteorological radar parameters, comprising the following steps: altitude h and longitude J of meteorological radar feed source 1 Latitude W 1 And radar wavelength lambda, the unmanned aerial vehicle acquires a calibration instruction, if the calibration instruction is a near field region calibration instruction, the step S2 is carried out, and if the calibration instruction is a far field region calibration instruction, the step S5 is carried out;
s2, matching and calculating the parameters of the unmanned aerial vehicle and the acquired meteorological radar parameters, and calculating the constraint conditions for controlling the unmanned aerial vehicle to fly in the near field area in a calibration mode as follows: r is less than or equal to R 1 H is more than or equal to H, wherein R is the projection distance of the meteorological radar and the unmanned aerial vehicle on the earth surface, R 1 The maximum range of a near field region of the meteorological radar is represented by H, and the altitude of real-time flight of the unmanned aerial vehicle is represented by H;
s3, controlling the unmanned aerial vehicle to perform calibration flight within the constraint condition range of the near field area, wherein the unmanned aerial vehicle control calculation method for near field area calibration specifically comprises the following steps:
R 1 ＝D 2 /2λ
wherein D is the diameter of the meteorological radar antenna, R d For equivalent earth radius, L is the relative distance between the unmanned aerial vehicle and the meteorological radar, Y is the pitch angle of the unmanned aerial vehicle relative to the meteorological radar, R E Is the radius of the earth;
wherein, W 2 Latitude for real-time flight of unmanned aerial vehicle, J 2 Longitude for real-time flight of drone:
f is the azimuth angle of the unmanned aerial vehicle relative to the meteorological radar;
s4, setting the flight speed of the unmanned aerial vehicle, combining the steps S2 and S3, controlling the unmanned aerial vehicle to complete near field calibration of the meteorological radar in a near field constraint condition range according to the set flight speed from near to far and then from far to near, judging whether a far field calibration instruction is received, if so, entering the step S5, otherwise, ending the calibration process; the distance from near to far refers to the relative distance L between the unmanned aerial vehicle and the meteorological radar from small to large;
s5, matching and calculating the parameters of the unmanned aerial vehicle and the acquired meteorological radar parameters, and calculating the constraint conditions for controlling the unmanned aerial vehicle to fly in the calibration of the far field area as follows: r is not less than R 2 H is more than or equal to H, wherein R is the projection distance of the meteorological radar and the unmanned aerial vehicle on the earth surface, and R is 2 The minimum range of a far field region of the meteorological radar is H, and the altitude of real-time flight of the unmanned aerial vehicle is H;
s6, controlling the unmanned aerial vehicle to fly in the constraint condition range of the far-field area space, wherein the specific far-field area calibration unmanned aerial vehicle control computing method comprises the following steps:
R 2 ＝2D 2 /λ
wherein D is the diameter of the meteorological radar antenna, R d For equivalent earth radius, L is the relative distance between the unmanned aerial vehicle and the meteorological radar, Y is the pitch angle of the unmanned aerial vehicle relative to the meteorological radar, R E Is the radius of the earth;
wherein, W 2 Latitude for real-time flight of unmanned aerial vehicle, J 2 Longitude for real-time flight of drone:
f is the azimuth angle of the unmanned aerial vehicle relative to the meteorological radar;
s7, setting the flight speed of the unmanned aerial vehicle, and combining the steps S5 and S6, controlling the unmanned aerial vehicle to complete far field calibration of the meteorological radar in a far field constraint condition range according to the set flight speed from near to far and then in a far-to-near flight mode, wherein the near-to-far means that the relative distance L between the unmanned aerial vehicle and the meteorological radar is from small to large.
The method has the advantages that when the weather radar is calibrated by using the metal ball (or other calibration equipment) mounted by the unmanned aerial vehicle, the parameters of the calibrated weather radar can be automatically matched, then the constraint space is calibrated in the near field region and the constraint space is calibrated in the far field region of the weather radar, intelligent calibration flight is carried out according to the flight speed set by the unmanned aerial vehicle, and the complicated control flow of manual work for calibrating the unmanned aerial vehicle and the influence on the calibration of the weather radar in the calibration process are eliminated.
Drawings
FIG. 1 is a schematic view of a flight space of a calibration Unmanned Aerial Vehicle (UAV) carrying a metal ball (or other calibration equipment) for calibrating a weather radar;
FIG. 2 is a flow chart of a control for calibrating a flight mode of an unmanned aerial vehicle;
FIG. 3 is a control flow of a method for calibrating space unmanned aerial vehicle flight in a radar near field area;
fig. 4 is a control flow of the unmanned aerial vehicle flight method in the radar far field calibration space.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The invention mainly enables the unmanned aerial vehicle parameters and the calibrated meteorological radar feed source parameters to be automatically matched, and the specific method comprises the following steps:
the calibrated meteorological radar feed source parameters (altitude, longitude and latitude) are respectively set as follows: h. j. the design is a square 1 、W 1 (ii) a The real-time spatial position parameters (altitude, longitude and latitude) for calibrating the flight of the unmanned aerial vehicle are respectively as follows: H. j is a unit of 2 、W 2 (ii) a The azimuth angle, the pitch angle and the relative distance of the calibration unmanned aerial vehicle (B) relative to the calibrated meteorological radar feed source (A) are respectively as follows: f (angle value relative to north east of the calibrated weather radar), Y (angle value relative to the ground plane), L (unit: meter),
is radian; r is E Is the radius of the earth; r d Is the equivalent radius of the earth (approximately equivalent to 4/3 of the actual radius of the earth). The projection distance of the calibrated meteorological radar feed source A and the calibrated unmanned aerial vehicle B on the earth surface is as follows: r (unit: meter); matching the parameters of the two through the following formula:
the calibration is divided into a near field range and a far field range because the constraints need to be set as follows: when the near field region is selected to calibrate the flight mode, as shown in figure 3, the calibration is carried out under the constraint condition that R is less than or equal to R 1 ，H 1 In the space range of more than or equal to h, the intelligent calibration flight is carried out according to the set speed V from near to far and then from far to near; when the far field region is selected to calibrate the flight mode, as shown in FIG. 4, calibration is carried out under the constraint condition that R is more than or equal to R 2 ，H 2 In the space range of more than or equal to h, the intelligent calibration flight is carried out according to the set speed V from near to far and then from far to near;
weather radar near field region range R 1 The calculation formula is as follows:
R 1 ＝D 2 /2λ (10)
wherein D is the diameter (unit: m) of the meteorological radar antenna, lambda is the meteorological radar wavelength (unit: cm), R 1 Is the maximum range (unit: meter) of the near field region of the meteorological radar.
Far field range R of meteorological radar 2 The calculation formula is as follows:
R 2 ＝2D 2 /λ (11)
wherein D is the diameter (unit: m) of the meteorological radar antenna, lambda is the meteorological radar wavelength (unit: cm), R 2 The minimum range (unit: meter) of the far field region of the meteorological radar.
In practical application, on demarcating unmanned aerial vehicle control software, after meteorological radar feed source parameters (radar wavelength, altitude, longitude and latitude) are obtained, the automatic matching of the parameters can be carried out in the above mode, then the demarcating unmanned aerial vehicle is started, and the flight mode of the demarcating unmanned aerial vehicle is selected: and calibrating the near field calibration flight mode or the far field calibration flight mode.
Example 1
The diameter of the S-band meteorological radar antenna for a certain service is as follows: 8.54 m, wavelength of 10cm and elevation of feed source h 1 Is 500 m; according to a meteorological radar near field calculation formula, the meteorological radar near field maximum distance R 1 =364.658 m, minimum distance R to far field region 2 =1458.632 m, after the parameter matching is performed by the unmanned aerial vehicle according to the method of the present invention, the flying speed V of the unmanned aerial vehicle is set as: 5m/s, when the calibration unmanned aerial vehicle needs to execute a calibration flight task in a near field area of the meteorological radar, the flight altitude of the calibration unmanned aerial vehicle is 600 meters (H) 1 ) Relative weather radar feed distance is 150 meters (L) 1 ) And 300 m (L) 1 ') to a test; the calibration unmanned aerial vehicle firstly hovers at the position with the altitude of 600 meters and the distance of 150 meters from the meteorological radar feed source; after hovering, keeping the altitude unchanged, calibrating the unmanned aerial vehicle to fly from near to far according to the flying speed of 5m/s between 150 meters and 300 meters relative to the meteorological radar feed source, then flying from far to near until the ground meteorological radar near field region is used for calibrating the flight task, and calibrating the unmanned aerial vehicle to return.
Example 2
The diameter of the X-waveband phased array meteorological radar antenna for a certain test is as follows: 2.4 meters, wavelength 3cm; the altitude of the feed source is h 1 Is 150 m; calculating a formula according to a meteorological radar near field region, wherein the maximum distance R of the near field region 1 =96 m, minimum distance R of far field zone 2 =384 meters, after the unmanned aerial vehicle performs parameter matching according to the method of the invention, the flying speed V of the unmanned aerial vehicle is set as: 3m/s, when the calibration unmanned aerial vehicle needs to execute a calibration flight task in a far field area of the meteorological radar, the flight altitude of the calibration unmanned aerial vehicle is 200 meters (H) 2 ) The relative weather radar feed source distance is 400 meters (L) 2 ) And 500 m (L) 2 ') to a host; demarcating the unmanned aerial vehicle at firstHovering at the altitude of 200 m and 400 m away from the meteorological radar feed source; after hovering, keeping the altitude unchanged, calibrating the unmanned aerial vehicle to fly from near to far according to the flying speed of 3m/s and from far to near from 400 meters to 500 meters relative to the meteorological radar feed source until completing the calibration flight task of the meteorological radar far field area, and returning the calibrated unmanned aerial vehicle.
Claims (1)
1. An unmanned aerial vehicle control method for meteorological radar calibration is characterized by comprising the following steps:
s1, obtaining calibrated meteorological radar parameters, comprising the following steps: altitude h and longitude J of meteorological radar feed source 1 Latitude W 1 And the radar wavelength lambda, acquiring a calibration instruction by the unmanned aerial vehicle, if the calibration instruction is a near field region calibration instruction, entering a step S2, and if the calibration instruction is a far field region calibration instruction, entering a step S5;
s2, matching and calculating the parameters of the unmanned aerial vehicle and the acquired meteorological radar parameters, and calculating the constraint conditions for controlling the unmanned aerial vehicle to fly in the near field area in a calibration mode as follows: r is less than or equal to R 1 H is more than or equal to H, wherein R is the projection distance of the meteorological radar and the unmanned aerial vehicle on the earth surface, R 1 The maximum range of a near field region of the meteorological radar is represented by H, and the altitude of real-time flight of the unmanned aerial vehicle is represented by H;
s3, controlling the unmanned aerial vehicle to perform calibration flight within the constraint condition range of the near field area, wherein the unmanned aerial vehicle control calculation method for near field area calibration specifically comprises the following steps:
R 1 ＝D 2 /2λ
wherein D is the diameter of the meteorological radar antenna, R d For equivalent earth radius, L is the relative distance between the unmanned plane and the meteorological radar, and Y is the relative distance between the unmanned plane and the meteorological radarPitch angle, R, of radar-like vehicle E Is the radius of the earth;
wherein, W 2 Latitude for real-time flight of unmanned aerial vehicle, J 2 Longitude for real-time flight of drone:
f is the azimuth angle of the unmanned aerial vehicle relative to the meteorological radar;
s4, setting the flight speed of the unmanned aerial vehicle, combining the steps S2 and S3, controlling the unmanned aerial vehicle to complete near field calibration of the meteorological radar in a near field constraint condition range according to the set flight speed from near to far and then from far to near, judging whether a far field calibration instruction is received, if so, entering the step S5, otherwise, ending the calibration process; the distance from near to far refers to the relative distance L between the unmanned aerial vehicle and the meteorological radar from small to large;
s5, unmanned aerial vehicle parameters and acquired meteorological radar parametersCarrying out matching calculation, and calculating the constraint conditions for controlling the unmanned aerial vehicle to fly in the calibration of the far-field area as follows: r is not less than R 2 H is more than or equal to H, wherein R is the projection distance of the meteorological radar and the unmanned aerial vehicle on the earth surface, R 2 The minimum range of a far field region of the meteorological radar is H, and the altitude of real-time flight of the unmanned aerial vehicle is H;
s6, controlling the unmanned aerial vehicle to fly in the constraint condition range of the far-field area space, wherein the specific far-field area calibration unmanned aerial vehicle control computing method comprises the following steps:
R 2 ＝2D 2 /λ
wherein D is the diameter of the meteorological radar antenna, R d For equivalent earth radius, L is the relative distance between the unmanned aerial vehicle and the meteorological radar, Y is the pitch angle of the unmanned aerial vehicle relative to the meteorological radar, R E Is the radius of the earth;
wherein, W 2 Latitude for real-time flight of unmanned aerial vehicle, J 2 Longitude for real-time flight of drone:
f is the azimuth angle of the unmanned aerial vehicle relative to the meteorological radar;
s7, setting the flight speed of the unmanned aerial vehicle, and combining the steps S5 and S6, controlling the unmanned aerial vehicle to complete far field calibration of the meteorological radar in a far field constraint condition range according to the set flight speed from near to far and then in a far-to-near flight mode, wherein the near-to-far means that the relative distance L between the unmanned aerial vehicle and the meteorological radar is from small to large.
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